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| United States Patent |
6,144,928
|
|
Leimbach
, et al.
|
November 7, 2000
|
Method and device for determining vehicular mass
Abstract
A vehicular mass is determined, or a signal indicative thereof is
generated, in particular for a commercial vehicle having a towing vehicle
and a trailer/semitrailer. The vehicle has actuatable braking devices,
which act, in particular, on the wheels of the towing vehicle and/or on
the wheels of the trailer/semitrailer. At least one first acceleration
value representing the vehicle's acceleration before the braking device is
actuated, and at least one second acceleration value representing the
vehicle's acceleration after the braking device is actuated, are measured.
The vehicular mass or the signal indicative of the vehicular mass are
determined and produced, respectively, as a function of the first and
second measured acceleration values.
| Inventors:
|
Leimbach; Klaus-Dieter (Moeglingen, DE);
Veil; Hans (Eberdingen, DE)
|
| Assignee:
|
Robert Bosch GmbH (Stuttgart, DE)
|
| Appl. No.:
|
093524 |
| Filed:
|
June 8, 1998 |
Foreign Application Priority Data
| Jun 07, 1997[DE] | 197 24 092 |
| Current U.S. Class: |
702/173; 73/862.192; 73/865; 702/142 |
| Intern'l Class: |
G01G 019/00 |
| Field of Search: |
702/173,175,142,141
73/865,862.192,862.31
177/136,141
|
References Cited
U.S. Patent Documents
| 4548079 | Oct., 1985 | Klatt | 702/175.
|
| 4656876 | Apr., 1987 | Fremd | 702/175.
|
| 4941365 | Jul., 1990 | Reiner et al. | 702/173.
|
| 5002343 | Mar., 1991 | Brearley et al.
| |
| 5460434 | Oct., 1995 | Micke et al.
| |
| 5482359 | Jan., 1996 | Breen | 303/9.
|
| 5500798 | Mar., 1996 | Inagaki.
| |
| 5610372 | Mar., 1997 | Phillips et al. | 702/173.
|
| 5726886 | Mar., 1998 | Yamakado et al. | 701/93.
|
| Foreign Patent Documents |
| 2 280 069 | Feb., 1976 | FR.
| |
| 24 49 765 | May., 1976 | DE.
| |
| 42 28 413 | Mar., 1994 | DE.
| |
| 44 42 487 | Mar., 1996 | DE.
| |
| 93 18385 | Sep., 1993 | WO.
| |
Primary Examiner: Hoff; Marc S.
Assistant Examiner: Bui; Bryan
Attorney, Agent or Firm: Kenyon & Kenyon
Claims
What is claimed is:
1. A method for determining a mass of a vehicle having at least one
actuatable braking device, comprising the steps of:
a first step of determining at least one first acceleration value
indicative of an acceleration of the vehicle before the at least one
braking device is actuated;
a second step of determining at least one second acceleration value
indicative of the vehicle after the at least one braking device is
actuated and after the first determining step; and
determining the vehicular mass as a function of the first and second
acceleration values determined in the first and second determining steps.
2. The method according to claim 1, wherein the vehicular mass is a mass of
a commercial vehicle having a towing vehicle and a trailer/semitrailer.
3. The method according to claim 2, wherein the at least one actuatable
braking device acts on wheels of at least one of the towing vehicle and
the trailer/semitrailer.
4. The method according to claim 3, wherein the second acceleration value
is determined when the at least one braking device is not acting on the
wheels of the trailer/semitrailer.
5. The method according to claim 1, further comprising the step of:
measuring a braking value representing a braking action, the braking action
resulting from an actuation of the at least one braking device.
6. The method according to claim 5, wherein the braking value is measured
when the second acceleration value is measured, and wherein the vehicular
mass is determined as a function of the measured braking value.
7. The method according to claim 5, further comprising the step of:
determining a third acceleration value when the at least one braking device
acts on wheels of a trailer/semitrailer, wherein the vehicular mass is
determined as a function of the determined third acceleration value.
8. The method according to claim 1, further comprising the step of:
measuring a motive value representing one of a drive and a propulsion of
the vehicle, wherein the first acceleration value is determined when the
measured motive value falls below a predefined threshold value.
9. The method according to claim 8, wherein the motive value includes at
least one of a propelling value and a tractive value.
10. The method according to claim 1, further comprising the step of:
determining a deceleration value representing an input command of a driver
for decelerating the vehicle, wherein the first acceleration value is
determined when the determined deceleration value is equal to a predefined
value.
11. The method according to claim 1, wherein at least one of the first
acceleration value and the second acceleration value is a
low-pass-filtered value.
12. A method for determining a mass of a vehicle having at least one
actuatable braking device, comprising the steps of;
determining at least one first acceleration value indicative of an
acceleration of the vehicle before the at least one braking device is
actuated;
determining at least one second acceleration value indicative of the
acceleration of the vehicle after the at least one braking device is
actuated;
determining the vehicular mass as a function of the determined first and
second acceleration values; and
measuring a braking value representing a braking action, the braking action
resulting from an actuation of the at least one braking device;
wherein the at least one actuatable braking device includes at least one of
a wheel brake device of the towing vehicle and a supplementary retarding
braking system, the supplementary retarding braking system including at
least one of a retarder and an engine braking system,
wherein:
if the wheel brake device is actuated by pressurized hydraulic brakes, the
braking value is determined as a function of wheel brake pressures of the
pressurized hydraulic brakes,
if the wheel brake device is electromotively actuated, the braking value is
determined as a function of a variable representing the actuation, and
if at least one of the retarder and the engine braking system is utilized,
the braking value is determined as a function of at least one of the
retarder and an engine braking torque,
wherein, if the supplementary retarding braking system includes a
hydrodynamic retarder, the braking value is determined as a function of a
variable representing a hydraulic pressure, and
wherein if the supplementary retarding braking system includes the engine
braking system, the braking value is determined as a function of a
position of a switch activating the engine braking system.
13. A device for providing a signal indicative of a mass of a vehicle, the
vehicle having at least one actuatable braking device to act on wheels of
the vehicle, the device comprising:
an arrangement:
measuring at least one first acceleration value representing an
acceleration of the vehicle before the at least one braking device is
actuated,
measuring at least one second acceleration value representing the
acceleration of the vehicle after the at least one braking device is
actuated and after measuring the at least one first acceleration value,
and
determining the signal indicative of the vehicular mass as a function of
the measured first and second acceleration values.
14. The device according to claim 13, wherein the vehicle is a commercial
vehicle having a towing vehicle and a trailer/semitrailer.
15. The device according to claim 14,
wherein the arrangement at least one of measures the second acceleration
value when the at least one braking device is not acting on the wheels of
the trailer/semitrailer and detects a braking value representing a braking
action produced by an actuation of the at least one braking device, and
wherein the vehicular mass is determined as a function of the detected
braking value.
16. The device according to claim 15, wherein the braking value is detected
when the second acceleration value is measured.
Description
FIELD OF THE INVENTION
The present invention relates to a method and a device for determining
vehicular mass.
BACKGROUND INFORMATION
A variety of systems for controlling the driving dynamics of motor vehicles
in open and closed loop is known. For the most part, these relate to
driving the braking systems. In such systems, it is important to have the
most precise knowledge possible of the vehicular mass.
If the motor vehicle is a commercial vehicle having a towing vehicle and a
trailer/semitrailer, then it is possible for the braking forces to be
optimally adjusted in terms of economic efficiency, safety, and ride
comfort, when the masses of the towing vehicle and of the
trailer/semitrailer are known as precisely as possible. If the mass of the
entire trailer train and the mass of the towing vehicle are known, then
the mass of the trailer/semitrailer can be determined. Since, however,
during normal operation of commercial vehicles, substantial differences in
the load arise and, thus, in the total mass of the vehicle, it is
necessary to continually redefine the total mass and the mass distribution
between the towing vehicle and the trailer/semitrailer. Thus, the driving
stability can be enhanced by properly distributing the braking torques
among the individual wheel brakes.
German Patent Application No. 42 28 413 describes how to determine the
total mass of a vehicle by measuring the vehicle's longitudinal
acceleration and corresponding tractive or motive forces at two different
instants in brief succession during one acceleration operation of the
vehicle. The vehicular mass can then be determined as a function of these
measured quantities.
One of the objects of the present invention is to provide a most precise
and simple possible way to determine mass during other operating states of
the vehicle.
SUMMARY OF THE INVENTION
The present invention enables a determination of vehicular mass or produces
a signal indicative thereof, in particular, for a commercial vehicle
having a towing vehicle and a trailer/semi-trailer. In this context, the
vehicle has actuatable braking devices, which act, in particular, on the
wheels of the towing vehicle and/or on the wheels of the
trailer/semitrailer. According to the present invention, at least one
first acceleration value representing the vehicle's acceleration before
the braking device is actuated, and at least one second acceleration value
representing the vehicle's acceleration after the braking device is
actuated, are measured. The vehicular mass or the signal indicative of the
vehicular mass is then determined or produced as a function of the first
and second measured acceleration values. In this connection, what is meant
by actuation of the braking devices is that the braking devices are
operated along the lines of a braking or deceleration action.
Therefore, mass can be determined on the basis of a braking operation. In
this context., according to the present invention, the acceleration or
deceleration values of the vehicle are considered immediately before and
immediately after the actual braking operation is introduced. From the
acceleration or deceleration values of the vehicle sensed at these
instants, the vehicular mass can be determined in a relatively simple
manner using available sensory mechanisms.
Provision is made, in particular, according to the present invention for a
braking value to be measured, which represents the braking action
resulting from actuation of the braking device, in particular during the
time that the second acceleration value is measured. The vehicular mass is
also determined at that time as a function of the measured braking value.
Generally, commercial vehicles are equipped with pneumatic or
hydraulic-pneumatic braking devices, which enable the individual wheels of
the towing vehicle and of the trailer/semitrailer to be braked, usually
using friction pads (e.g., brake linings). Besides these wheel-braking
devices, which are generally not designed for continuous operation,
provision is made for supplementary retarding braking devices, such as an
engine braking system and/or a retarder. These supplementary retarding
braking devices generally act via the drive train on the driven wheels of
the towing vehicle.
Provision is made in an embodiment of the present invention for the second
acceleration value to be measured when the braking devices are not yet
acting upon the wheels of the trailer/semitrailer. This is associated with
the following advantage:
During normal operation, the towing vehicle is often operated with changing
(i.e., different) trailers/semitrailers. These trailers/semitrailers often
have very different wheel-braking devices, which is why it is difficult,
without make costly adjustments to each trailer/semitrailer, to obtain the
exact braking values for the trailer/semitrailer, for example from the
braking pressure. If one measures the second acceleration value when the
braking devices are not yet acting upon the wheels of the
trailer/semitrailer, then the braking value of the trailer/semitrailer at
this instant is zero.
As indicated above, as an actuatable braking device, at least one
wheel-braking device on the towing vehicle and/or for a supplementary
retarding braking system is provided (such as a retarder and/or an engine
braking system).
To determine the instant described above when the braking devices are not
yet acting upon the wheels of the trailer/semitrailer, one can utilize, on
one hand, the delay between the time the braking pressure which is fed
into the wheels of the towing vehicle and the time the braking pressure
which is fed into the wheels of the trailer/semitrailer. On the other
hand, it is also possible to use only those braking phases for determining
mass which act only upon the wheels of the towing vehicle using the
mentioned supplementary retarding braking device. It is advantageous in
this case that neither knowledge of the wheel brakes of the towing vehicle
nor of the trailer/semitrailer is needed.
In the case of wheel brakes actuated by pressurized media (i.e., hydraulic
brakes), the braking value can be determined as a function of the wheel
brake pressures. In the case of wheel brakes actuated electromotively, the
braking value can be determined as a function of a variable representing
the actuation, while in the case of a retarder and/or of an engine braking
system, the braking value can be determined as a function of the retarder
and/or of the engine braking torque.
Provision can be made, in particular, in the latter case, when working with
a hydrodynamic retarder, for the braking value to be determined as a
function of a variable representing the hydraulic pressure or, in the case
of an engine braking system, for the braking value to be determined as a
function of the position of a switch that activates the engine braking
system.
A propulsion (tractive) value representing the drive or propulsion (e.g., a
propelling power) of the vehicle can be measured and the first
acceleration value can then be measured when the measured propulsion value
exhibits or falls below a predefinable value, in particular the value
zero. In this manner, a way to determine the force ratios can be
simplified when the first acceleration value is measured.
The first acceleration value can be determined by detecting a deceleration
value representing the driver's input command for decelerating the
vehicle, for example the position of the gas and/or brake pedal. The first
acceleration value is determined when the measured deceleration value is
of a predefinable value, in particular the value zero.
It is also advantageous for the first and/or the second acceleration value
to be low-pass filtered.
If the properties of the wheel-brake devices of the trailer/semitrailer are
sufficiently known, then a third acceleration value can be determined when
the braking devices act upon the wheels of the trailer/semitrailer. The
vehicular mass can also be determined then as a function of the third
measured acceleration value.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 shows a general block diagram of the method and device according to
the present invention.
FIG. 2 shows a first variation in a braking operation over time.
FIG. 3a shows a first part of a functional sequence of an exemplary
embodiment according to the present invention.
FIG. 3b shows a second part of the functional sequence shown in FIG. 3a of
the exemplary embodiment according to the present invention.
FIG. 4 shows a second variation in the braking operation over time.
DETAILED DESCRIPTION
FIG. 1 shows wheel-speed sensors 10ij, which sense the rotational speeds of
the vehicle wheels. The signals are fed to block 101, which determines
total vehicle mass M.sub.ges and feeds this to block 102. As a function of
total mass M.sub.ges and wheel speeds Nij, braking systems 11ij, in
particular the individual wheel braking systems are driven in block 102
when the driver signals a braking or deceleration command via actuating
element 13 (brake pedal and/or supplementary retarding-braking actuating
element, signal B).
In addition, to determine mass, block 101 is fed with a tractive (e.g.,
motive) force F.sub.antr or the drive torque from valve the timing unit
104. Moreover, block 101 is fed braking force F.sub.Br from wheel-brake
control unit 102 and/or from supplementary retarding braking control unit
103. Block 101 defines a drive (e.g., propelling power) command via
position .alpha. of gas pedal 12.
General Consideration of a Braking Operation
The basis of the present invention is a one-dimensional balance of momentum
of the moving trailer train produced at different points in time. Thus, a
braking operation shall be described on the basis of FIG. 2.
At instant t.sub.1, which is before instant T.sub.4, when the vehicle is
not braked, it applies that:
M.sub.ges *a.sub.1 =F.sub.antr1 +F.sub.Reib1 +F.sub.L1 +F.sub.St1(1)
where
M.sub.ges : (=M.sub.Zug +M.sub.A) total mass of the trailer train
calculated from mass M.sub.zug of the towing vehicle and the mass M.sub.A
of the trailer/semitrailer,
a.sub.1 : acceleration of the trailer train at instant t.sub.1, which is
before the braking operation is introduced at instant T.sub.4,
F.sub.antr1 : motive force/braking force of the vehicle engine at instant
t.sub.1,
F.sub.Reib1 : rolling friction force at instant t.sub.1,
F.sub.L1 : aerodynamic drag at instant t.sub.1, and
F.sub.St1 : downgrade force at instant t.sub.1.
At instant t.sub.2, which follows instant T.sub.4 when one or more of the
vehicle braking systems are applied (during time span .DELTA.T.sub.2), it
is necessary for braking force F.sub.Br to be additionally considered in
the balance of momentum:
M.sub.ges *a.sub.2 =E.sub.antr2 +F.sub.Reib2 +F.sub.L2 +F.sub.L2 +F.sub.St2
+F.sub.Br (2)
where:
a.sub.2 : is the acceleration of the trailer train at instant t.sub.2,
which follows the start of the braking operation at instant T.sub.4,
F.sub.antr2 : motive force/braking force of the vehicle engine at instant
t.sub.2,
F.sub.Reib2 : rolling friction force at instant t.sub.2,
F.sub.L2 : aerodynamic drag at instant t.sub.2, and
F.sub.St2 : downgrade force at instant t.sub.2.
It can be assumed that the two instants t.sub.1 and t.sub.2, when the
vehicle acceleration values a.sub.1 and a.sub.2 are detected, follow one
another in relatively close time succession, then the assumption can be
made that rolling friction force F.sub.Reib, aerodynamic drag F.sub.L, and
downgrade force F.sub.St are the same at both instants. If, at this point,
the two acquisition instants t.sub.1 and t.sub.2 are selected to be such
that instant t.sub.1 immediately precedes the start of the braking
operation, and instant t.sub.2 immediately follows the start of the
braking operation, then the assumption can also be made that the motive or
braking force F.sub.antr of the vehicle engine is approximately the same
at both instants. Further explanations will be given with regard to the
precise selection of the two instants t.sub.1 and t.sub.2 on the basis of
the description of the two exemplary embodiments.
With these conditions (e.g., assumptions), by substituting equation (1) in
equation (2), it follows for total mass M.sub.ges of the trailer train
that:
##EQU1##
However, if the influences of the aerodynamic drag, of the rolling friction
force, of the downgrade force and/or of the engine are known, then these
can, of course, be used for the determination of mass. Given a known
engine motive force or engine braking force, it follows then that:
##EQU2##
Since, in particular in the case of a towing vehicle having a semitrailer,
the mass of the towing vehicle that does not change considerably, is
generally known, it results for the unknown semitrailer mass that:
M.sub.A =M.sub.ges -M.sub.Zug (5)
First Exemplary Embodiment
For instants t1 and t2 selected in accordance with the first specific
embodiment (determining vehicle acceleration values a.sub.1 and a.sub.2),
the following conditions are utilized:
1. The braking pressure to be fed into the wheel brakes of the towing
vehicle and the application pressure required for the wheel brake linings
to engage are known.
2. The chronological sequence should be such that the wheel brakes of the
towing vehicle act before the wheel brakes of the trailer/semitrailer.
3. The (functional) relation between wheel brake pressure P.sub.Br and
resultant braking force F.sub.Br should be known when working with the
wheel brakes of the towing vehicle:
F.sub.Br =f(P.sub.Br).
4. The acceleration of the trailer train should be known, for example from
the wheel speeds of the non-driven wheels.
5. Total mass M.sub.ges acting in the moving direction of the trailer train
is constant. This means that there should be no change in the bearing
configuration (impact) at the coupling point between the towing vehicle
and the trailer/semitrailer.
6. The motive or braking force F.sub.antr of the vehicle engine should be
known or be constant for the two instants t1 and t2. When working with
present-day engine control units, the motive or braking force F.sub.antr
is generally known, i.e., it can be calculated using the data, such as the
(indexed) engine output torque, available in the engine control unit.
7. The disturbing influences on the motion of the trailer train, such as
rolling friction, aerodynamic drag, and downgrade force are known, or are
to be assumed as constant for the two instants t1 and t2.
In the first exemplary embodiment of the present invention to be described
on the basis of FIG. 4, first acceleration value a.sub.1 is measured at
instant t1 (in the time interval between T.sub.0 ' and T.sub.1 ' shown in
FIG. 4) when, for example, the driver of the vehicle has actuated brake
pedal 13 at instant T.sub.0 ', however, the vehicle brakes have not yet
engaged at instant T.sub.1 '. This means that an immediate deceleration of
the vehicle by the wheel brakes is imminent, but these wheel brakes are
not yet causing a deceleration. This instant can be ascertained, for
example, by analyzing the brake light signal.
Starting with instant T.sub.1 ', the wheel brake linings are applied, and
the resultant vehicle deceleration begins. Second acceleration value a2
should be detected by instant T2' when the wheel brakes of the
trailer/semitrailer are applied. Between T.sub.1 ' and T.sub.2 ', the
entire trailer train is decelerated only by the wheel brakes of the towing
vehicle. Braking force F.sub.Br effected by the wheel brakes in the time
interval between T.sub.1 ' and T.sub.2 ' is known in accordance with the
third condition mentioned above.
Thus, according to equation (3) or (5), total mass M.sub.ges or the mass of
the trailer/semitrailer can be determined. If the motive force is known,
then equation (5) applies.
If the instant along with the corresponding application pressure is known
for the trailer/semitrailer, then a third momentum equation can be
formulated:
m.sub.ges *a.sub.3 =F.sub.antr3 +F.sub.Reib3 +F.sub.L3 +F.sub.St.sub.3
+F.sub.Br,Z +F.sub.Br,A (6)
In this relation, the two braking forces are to be considered--that of
towing vehicle F.sub.Br,Z and that of trailer/semitrailer F.sub.Br,A.
Other variables correspond to those already described, however at instant
t3, when the wheel brakes of the trailer/semitrailer are engaged. Here as
well, analogously to the third condition, braking pressure P.sub.Br,A of
the trailer/semitrailer must be measured, and a relation between
trailer/semitrailer braking pressure P.sub.Br,A and trailer/semitrailer
braking force P.sub.Br,A must be known:
F.sub.Br,A =f(P.sub.Br,A).
The mass value ascertained on the basis of acceleration value a.sub.3 leads
to a redundancy in the mass determination, making it possible to diminish
measuring uncertainties.
Superimposed on the measured quantities is interference, such as noise.
Such interference is able to be minimized by properly averaging over a
plurality of measurements in the time periods between T.sub.1 ' and
T.sub.2 ' (measuring a.sub.1) or T.sub.2 ' and T.sub.3 ' (measuring
a.sub.2), or after T.sub.3 ' (measuring a.sub.3).
Second Exemplary Embodiment
In the first specific embodiment, on one hand, the application pressure of
the wheel brakes at the towing vehicle is known, and, on the other hand,
the relation between wheel brake pressure P.sub.Br and resultant braking
force F.sub.Br.
In a second exemplary embodiment, only those braking operations are
retrieved (e.g., considered) during which the supplementary retarding
braking device (retarder and/or engine braking device) provided on the
towing vehicle is used for the deceleration. This automatically ensures
that only the towing vehicle is braking.
In present-day supplementary retarding braking devices, particularly in
retarders, information is available in the corresponding retarder control
unit, from which the braking force effected by the retarder can be
inferred. In addition, supplementary retarding braking systems of this
kind are generally not subject to the influence of possibly unknown
brake-lining properties.
The second exemplary embodiment is described below with reference to FIGS.
2, 3a and 3b. In this context, FIG. 2, which has already been described in
part, shows a typical braking operation; and FIG. 3 shows a program
executed which is run through, for example, every .DELTA.t=10 ms.
Following initial step 301, the query is made in step 302 whether the
motive force is greater than zero. If this is the case, then the vehicle
is before instant T.sub.2 shown in FIG. 2, which means that a deceleration
operation is not immediately intended. In this case, the program
immediately jumps to final step 308.
If it is determined, however, for the first time in step 302 that no motive
force is at hand (instant T.sub.2), then this is a first indication that a
deceleration maneuver is immediately imminent. In this case, for example,
the driver of the vehicle will place gas pedal 12 in the neutral position.
Step 303 queries whether a braking force greater than zero. If this is not
the case, then one is within interval .DELTA.T.sub.1 shown in FIG. 2. In
step 304, the instantaneous (e.g., active) vehicle velocity V.sub.new is
then measured, for example, from the wheel speeds of the non-driven
wheels, whereupon in step 305, instantaneous acceleration anew is
calculated from active vehicle velocity V.sub.new, from the previously
measured value V.sub.old, and from program processing time .DELTA.T. This,
of course, is not possible during the first run-through of the program
loop starting with step 304.
##EQU3##
In step 306, thus calculated value a.sub.1, low-pass filtered is determined
in a generally known manner, to yield:
a.sub.1 =.sub.1,old * (1-k)+k* (a.sub.new -a.sub.1,old) (b 8)
wherein k is a constant empirically determined or otherwise selected in
accordance with the desired response or characteristics of the system.
In step 307, thus determined value a, and V.sub.new are set to equal values
a.sub.1,old and V.sub.old.
After the final step, the program run is started anew with a predefined
cycle timing.
Shortly after instant T.sub.4, it is ascertained for the first time in step
303 that braking force F.sub.Br is greater than zero. Step 309 then
queries whether a braking by supplementary retarding braking device
(retarder/engine brake) or a braking by the wheel brake is at hand. In
response to an operated wheel brake, the process immediately jumps to
final step 308 and the procedure determining mass is stopped.
At this point, when a deceleration effected exclusively by the retarder
and/or by the engine brake is ascertained as of instant T.sub.4, the
active values for vehicle's longitudinal velocity V.sub.new and for
braking force F.sub.Br are detected in step 310. At the same time,
longitudinal acceleration value a.sub.1,old calculated prior to instant T4
is set to equal a.sub.1.
In step 311, as in step 306, active vehicle longitudinal acceleration a2
##EQU4##
is calculated.
In subsequent step 312, a value M.sub.new is calculated (according to
equation 3)
##EQU5##
whereupon in step 313, average value M is generated on the basis of all
mass values M.sub.new since beginning of braking at T.sub.4. In step 314,
value V.sub.old is up-dated, in that it is set to equal V.sub.new.
The query is made in step 315 whether more than one predefinable time
period (for example 1 sec.) has elapsed since the beginning of braking at
T.sub.4. If this is not the case, the process skips to final step 308,
otherwise the total mass is output in step 316 as average value M.
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